CN113129642B - Safety vehicle distance early warning system and early warning method - Google Patents
Safety vehicle distance early warning system and early warning method Download PDFInfo
- Publication number
- CN113129642B CN113129642B CN202010049406.4A CN202010049406A CN113129642B CN 113129642 B CN113129642 B CN 113129642B CN 202010049406 A CN202010049406 A CN 202010049406A CN 113129642 B CN113129642 B CN 113129642B
- Authority
- CN
- China
- Prior art keywords
- position information
- distance
- train
- vehicle
- gps
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
Abstract
The invention provides a safe vehicle distance early warning system, which comprises: a vehicle-mounted terminal and a vehicle distance early warning terminal; the vehicle-mounted terminal is arranged at a designated position of the train and used for acquiring GPS position information of the train and transmitting the GPS position information to the train distance early-warning terminal through the conductor rail; the vehicle distance early warning terminal is arranged at a designated position of the conductor rail, is connected with the vehicle-mounted terminal through the conductor rail in a power carrier communication mode, and is used for receiving and processing the GPS position information to obtain a real-time distance between trains, generating a safety vehicle distance early warning instruction according to the real-time distance and the train speed and transmitting the safety vehicle distance early warning instruction to the vehicle-mounted terminal; the vehicle-mounted terminal is also used for receiving the safety distance early warning instruction and executing warning operation, or executing train braking operation, or executing warning operation and train braking operation. The invention solves the problems of high equipment and labor cost, low control reliability, limited precision and easy generation of artificial accidents existing in the existing safe vehicle distance control mode.
Description
Technical Field
The invention relates to the technical field of control, in particular to a safety distance pre-warning system and a safety distance pre-warning method.
Background
The safety distance control of the existing rail transit mainly comprises three modes: firstly, the train position is marked by arranging signal system equipment beside a track, however, the track side signal system is high in cost and difficult to maintain due to the fact that special persons are required to maintain the equipment regularly; secondly, the safety vehicle distance control is realized through manual monitoring and scheduling, however, the manpower cost of the mode is higher, and the artificial accident situation is difficult to prevent; and thirdly, the train position is detected by installing the vehicle-mounted radar ranging module on the train, and the method is low in cost and is easy to be influenced by external environment, and particularly, when the track is bent more and shuttles between community buildings, the reliability of safe train distance control is low.
In summary, the existing safe vehicle distance control method for rail transit has the problems of high equipment and labor cost, low control reliability, limited precision and easiness in generating artificial accidents.
Disclosure of Invention
The invention provides a safety distance early warning system and an early warning method, which are used for solving the problems of high equipment and labor cost, low control reliability, limited precision and easiness in generating artificial accidents in the existing safety distance control mode of rail transit.
The invention is realized in such a way that a safe vehicle distance early warning system comprises:
a vehicle-mounted terminal and a vehicle distance early warning terminal;
the vehicle-mounted terminal is arranged at a designated position of the train and used for acquiring GPS position information of the train and transmitting the GPS position information to the train distance early-warning terminal through a conductor rail;
the vehicle distance early warning terminal is arranged at a designated position of the conductor rail, is connected with the vehicle-mounted terminal through the conductor rail in a power carrier communication mode, and is used for receiving GPS position information transmitted by the vehicle-mounted terminal, processing the GPS position information to obtain a real-time distance between trains, generating a safety vehicle distance early warning instruction according to the real-time distance and the train speed, and transmitting the safety vehicle distance early warning instruction to the vehicle-mounted terminal through the conductor rail;
the vehicle-mounted terminal is also used for receiving the safety distance early warning instruction, and executing alarming operation, or executing train braking operation, or executing alarming operation and train braking operation according to the safety distance early warning instruction.
Optionally, the vehicle-mounted terminal comprises a first central processing unit, a GPS module, a first communication module, an alarm module and a brake module, wherein the GPS module, the first communication module, the alarm module and the brake module are respectively connected with the first central processing unit;
The GPS module is arranged at a designated position of the carriage and used for collecting GPS position information of the carriage in real time;
the first communication module is used for modulating the GPS position information acquired by the GPS module into a first analog signal and coupling the first analog signal to the conductor rail so as to transmit the first analog signal to the vehicle distance early warning terminal through the conductor rail;
the first communication module is also used for receiving a second analog signal transmitted by the conductor rail, decoupling and demodulating the second analog signal to obtain the safety distance pre-warning instruction, and sending the safety distance pre-warning instruction to the first central processor;
and the first central processing unit controls the alarm module to execute alarm operation according to the safety distance early warning instruction, or controls the brake module to execute train brake operation, or controls the alarm module to execute alarm operation and controls the brake module to execute train brake operation.
Optionally, the train comprises at least one carriage, the vehicle-mounted terminal comprises at least one GPS module, and each GPS module is installed on one carriage of the train;
the GPS module on each carriage is used for collecting GPS position information corresponding to the carriage.
Optionally, the vehicle distance early warning terminal comprises a second central processing unit, a second communication module and a calculation module which are respectively connected with the second central processing unit;
the second communication module is used for receiving the first analog signal transmitted by the conductor rail, decoupling and demodulating the first analog signal to obtain the GPS position information, and sending the GPS position information to the calculation module;
the calculation module is used for screening the GPS position information and calculating the real-time distance between trains according to the screened GPS position information;
the second central processing unit is used for generating a safe distance pre-warning instruction according to the real-time distance and the train speed;
the second communication module is further used for modulating the safety distance pre-warning instruction into a second analog signal and coupling the second analog signal to the conductor rail so as to transmit the second analog signal to the vehicle-mounted terminal through the conductor rail.
Optionally, the computing module is further configured to:
screening the GPS position information according to a preset electronic fence to obtain GPS position information in the electronic fence;
and calculating the real-time distance between the trains according to the screened GPS position information.
An early warning method based on a safe distance early warning system comprises the following steps:
the safe distance pre-warning system is the safe distance pre-warning system, and comprises:
receiving a first analog signal transmitted by a vehicle-mounted terminal through a conductor rail, and decoupling and demodulating the first analog signal to obtain GPS position information;
screening the GPS position information, and calculating the real-time distance between trains according to the screened GPS position information;
generating a safety distance pre-warning instruction according to the real-time distance and the train speed;
modulating the safety distance early warning instruction into a second analog signal, and coupling the second analog signal to the conductor rail so as to transmit the second analog signal to the vehicle-mounted terminal through the conductor rail.
Optionally, the GPS location information includes GPS location information corresponding to each car on the train;
the screening the GPS location information includes:
the GPS position information sent by the vehicle-mounted terminal on each train is screened according to a preset electronic fence to obtain the GPS position information in the electronic fence;
and for each GPS position information in the electronic fence, acquiring a carriage number corresponding to the GPS position information and the carriage number of the train, and taking the GPS position information, the carriage number and the carriage number corresponding to the GPS position information as a group of effective position information corresponding to the train.
Optionally, the calculating the real-time distance between the trains according to the screened GPS position information includes:
for a front train and a rear train, obtaining a carriage distance between the front train and the rear train according to GPS position information in a group of effective position information corresponding to the front train, GPS position information in a group of effective position information corresponding to the rear train and the earth radius, wherein the carriage distance is the distance between GPS modules on carriages corresponding to carriage numbers in the effective position information of the two trains;
and obtaining the real-time distance between the front train and the rear train according to the carriage distance, the carriage number in the group of effective position information corresponding to the front train, the carriage number in the group of effective position information corresponding to the rear train and the carriage length, wherein the real-time distance is the distance between the tail of the front train and the head of the rear train.
Optionally, when the front car corresponds to multiple groups of effective position information, obtaining a carriage distance and a real-time distance between the front train and the rear train according to any group of effective position information corresponding to the front car, effective position information corresponding to the rear car and the earth radius;
when the rear vehicle corresponds to a plurality of groups of effective position information, obtaining a carriage distance and a real-time distance between the front train and the rear train according to the effective position information corresponding to the front vehicle, any group of effective position information corresponding to the rear vehicle and the earth radius;
And when the front car corresponds to a plurality of groups of effective position information and the rear car corresponds to a plurality of groups of effective position information, obtaining the carriage distance and the real-time distance between the front train and the rear train according to any group of effective position information corresponding to the front car, any group of effective position information corresponding to the rear car and the earth radius.
Optionally, the safety distance pre-warning instruction comprises an alarm instruction and a braking instruction;
the generating the safe distance pre-warning instruction according to the real-time distance and the train speed comprises the following steps:
when the real-time distance is smaller than the safety distance and larger than or equal to the first early warning distance, generating an alarm instruction and a first-stage braking instruction;
when the real-time distance is smaller than the first early warning distance and larger than or equal to the second early warning distance, generating an alarm instruction and a second-stage braking instruction if the speed of the rear vehicle is larger than the speed of the front vehicle, and generating an alarm instruction and a first-stage system instruction if the speed of the rear vehicle is smaller than or equal to the speed of the front vehicle;
when the real-time distance is smaller than or equal to the second early warning distance, generating an alarm instruction and a secondary braking instruction;
the first early warning distance is larger than the second early warning distance, and the braking amplitude of the second-level braking instruction is larger than that of the first-level braking instruction. .
The invention provides a safe vehicle distance early warning system, which comprises a vehicle-mounted terminal and a vehicle distance early warning terminal; the vehicle-mounted terminal is arranged at a specified position of the train, the distance pre-warning terminal is arranged at the specified position of the conductor rail, and the distance pre-warning terminal is connected with the vehicle-mounted terminal through the conductor rail in a power carrier communication mode. According to the embodiment of the invention, the GPS position information is acquired through the existing vehicle-mounted terminal on the train according to the high-precision GPS position information, no additional position detection equipment is needed, the vehicle networking is realized through the conductor rail in a power carrier communication mode, no additional cable or infinite equipment is needed, and the equipment cost is effectively reduced; and the vehicle distance early warning terminal is used for carrying out real-time distance detection and early warning according to the GPS position information, so that the reliability control precision of the safety early warning is effectively improved, the automation of the safety early warning is realized, the generation of human accidents is avoided, and the labor cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a safety distance warning system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle-mounted terminal in a safety distance pre-warning system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle distance early warning terminal in a safety vehicle distance early warning system according to an embodiment of the present invention;
FIG. 4 is a flowchart of an implementation of an early warning method based on a safe distance early warning system according to another embodiment of the present invention;
fig. 5 is a flowchart of an implementation of screening the GPS location information in an early warning method based on a safe distance early warning system according to another embodiment of the present invention;
FIG. 6 is a schematic view of an electronic fence provided in another embodiment of the present invention;
fig. 7 is a flowchart of an implementation of calculating a real-time distance between trains according to the GPS position information screened in an early warning method based on a safe distance early warning system according to another embodiment of the present invention;
FIG. 8 is a schematic diagram of a car distance versus a real-time distance according to another embodiment of the present invention;
fig. 9 is a flowchart of an implementation of generating a safe distance warning command according to the real-time distance and the train speed in a warning method based on a safe distance warning system according to another embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
Fig. 1 is a schematic structural diagram of a safety distance warning system provided by the invention. As shown in fig. 1, the system includes: the vehicle-mounted terminal 1 and the vehicle distance early-warning terminal 2;
the vehicle-mounted terminal 1 is arranged at a designated position of a train and is used for acquiring GPS position information of the train and transmitting the GPS position information to the train distance early-warning terminal 2 through a conductor rail;
the distance pre-warning terminal 2 is arranged at a designated position of the conductor rail, is connected with the vehicle-mounted terminal 1 through the conductor rail in a power carrier communication mode, and is used for receiving GPS position information transmitted by the vehicle-mounted terminal 1, processing the GPS position information to obtain a real-time distance between trains, generating a safety distance pre-warning instruction according to the real-time distance and the train speed, and sending the safety distance pre-warning instruction to the vehicle-mounted terminal 1 through the conductor rail;
The vehicle-mounted terminal 1 is also used for receiving the safety distance pre-warning instruction, and executing warning operation, or executing train braking operation, or executing warning operation and train braking operation according to the safety distance pre-warning instruction.
In the embodiment of the invention, the safety distance pre-warning system is applicable to a cloud track, and the vehicle-mounted terminal 1 is an existing vehicle-mounted terminal installed on a cloud track train. The vehicle-mounted terminal 1 and the vehicle distance early warning terminal 2 are connected through a conductive rail in a power carrier communication mode, and the vehicle-mounted terminal is a typical bus type master-slave communication structure.
The vehicle-mounted terminal 1 on each train is responsible for collecting GPS position information of the train, the GPS position information is transmitted through a conductor rail, the GPS position information is received by the train distance early warning terminal 2, the real-time distance between the trains is obtained after centralized processing, then a safety train distance early warning instruction is generated according to the real-time distance and the train speed, the safety train distance early warning instruction is issued to the vehicle-mounted terminal 1, and the vehicle-mounted terminal 1 executes corresponding early warning operation by identifying the safety distance early warning instruction. In order to prevent excessive attenuation of signals, the embodiment of the invention further adds a repeater 3 on the conductor rail, wherein the repeater 3 is installed on the conductor rail and is used for amplifying signals transmitted on the conductor rail. The repeater 3 amplifies the signal transmitted on the conductor rail, thereby enlarging the network transmission distance.
Therefore, the embodiment of the invention carries out real-time positioning on the train by using the vehicle-mounted terminal on the cloud rail train, realizes connection communication between the vehicle-mounted terminal and the train distance early warning terminal by taking the conductor rail as a communication medium in a power carrier mode, monitors the real-time distance between the trains according to the real-time GPS position information and issues different early warning instructions, does not need to additionally increase a GPS position information acquisition module, does not need to additionally arrange cables or wireless equipment, effectively reduces equipment cost, improves control reliability and control precision, and reduces labor cost to a certain extent.
It should be noted that fig. 1 includes three in-vehicle terminals 1 and one repeater 3, and the number of in-vehicle terminals and the number of repeaters in the drawing are not limited to the present invention, and may include one or more in-vehicle terminals 1 and one or more repeaters 3 in practical applications.
Specifically, as an embodiment, as shown in fig. 2, the vehicle-mounted terminal 1 in the safe distance pre-warning system further includes: a first central processing unit 11, a GPS module 12, a first communication module 13, an alarm module 14, and a brake module 15, which are respectively connected to the first central processing unit 11;
The GPS module 12 is arranged at a designated position of the carriage and is used for collecting GPS position information of the carriage in real time;
the first communication module 13 is configured to modulate the GPS position information collected by the GPS module 12 into a first analog signal, and couple the first analog signal to the conductor rail, so as to transmit the first analog signal to the vehicle distance early-warning terminal 2 through the conductor rail;
the first communication module 13 is further configured to receive a second analog signal transmitted from the conductive track, decouple and demodulate the second analog signal to obtain the safety distance pre-warning instruction, and send the safety distance pre-warning instruction to the first central processor 13;
the first central processing unit 13 controls the alarm module 14 to perform alarm operation according to the safety distance early warning instruction, controls the brake module 15 to perform train brake operation, or controls the alarm module 14 to perform alarm operation and controls the brake module 15 to perform train brake operation.
Here, the GPS module 12 is a high-precision GPS module. The GPS module based on the A-GPS technology is preferred, and the vehicle-mounted positioning precision is effectively improved by combining network base station information and a global satellite positioning system, so that the positioning precision is within 1 meter, and the prior art is generally within 10 meters when only the GPS module is used for positioning.
The first communication module 13 is a power carrier communication module. In the embodiment of the present invention, when the first communication module 13 is used as a transmitting end, the GPS position information is modulated into a first analog signal and coupled to the conductor rail for transmission, so as to be transmitted to the vehicle distance early warning terminal 2 through the existing conductor rail; when the vehicle-mounted terminal is used as a receiving end, a second analog signal transmitted by the conductor rail is received, the second analog signal is decoupled and demodulated to obtain the safety distance pre-warning instruction, and the safety distance pre-warning instruction is sent to the first central processing unit 13, so that the connection communication between the vehicle-mounted terminal 1 and the distance pre-warning terminal 2 is realized, the Internet of vehicles can be realized without re-erecting a network, and the equipment cost is effectively reduced.
The first central processing unit 13 identifies and processes the received safety distance pre-warning command, then controls the alarm module 14 to perform alarm operation and/or controls the brake module 15 to perform train braking operation, so as to realize automatic pre-warning and braking of the safety distance, thereby being beneficial to reducing the possibility of human unexpected operation.
Further, in order to improve accuracy of distance detection, the embodiment of the invention can also layout the GPS module according to a carriage of a train. If the train comprises at least one carriage, the vehicle-mounted terminal comprises at least one GPS module, and each GPS module is arranged on one carriage of the train. By providing the GPS module on each carriage of the train, the vehicle-mounted terminal can acquire at least one GPS position information at the same time and provide the GPS position information for the distance pre-warning terminal 2, so that the distance pre-warning terminal 2 can select accurate GPS position information to perform distance pre-warning. Therefore, the embodiment of the invention greatly improves the reliability of the safety distance early warning by adopting the combination of GPS and base station positioning and the redundancy scheme of multiple GPS modules.
Specifically, as an embodiment, as shown in fig. 3, the vehicle distance early warning terminal 2 includes a second central processing unit 21, a second communication module 22 and a calculation module 23 respectively connected to the second central processing unit 21;
the second communication module 22 is configured to receive the first analog signal transmitted from the conductive track, decouple and demodulate the first analog signal to obtain the GPS location information, and send the GPS location information to the calculation module 23;
the calculation module 23 is used for screening the GPS position information and calculating the real-time distance between trains according to the screened GPS position information;
the second central processing unit 21 is used for generating a safe distance pre-warning instruction according to the real-time distance and the train speed;
the second communication module 22 is further configured to modulate the safe distance warning command into a second analog signal, and couple the second analog signal to the conductor rail, so as to transmit the second analog signal to the vehicle-mounted terminal 1 through the conductor rail.
Wherein the second communication module 22 is also a power carrier communication module. In the embodiment of the present invention, when the second communication module 22 is used as a receiving end, a first analog signal transmitted by the conductive track is received, the first analog signal is decoupled and demodulated to obtain the GPS position information, and the GPS position information is sent to the calculation module 23; when the vehicle-mounted terminal is used as a transmitting end, the safety distance pre-warning instruction generated by the second central processing unit 21 is modulated into a second analog signal and is coupled to the conductor rail so as to be transmitted to the vehicle-mounted terminal 1 through the existing conductor rail.
The calculation module 23 receives the GPS position information provided by the second communication module 22, and obtains a real-time distance between trains according to the GPS position information. As described above, each car on the train is provided with a GPS module, and the vehicle-mounted terminal on the train can collect a plurality of GPS position information at the same time and provide the information to the calculation module 23 for use. In order to improve accuracy of real-time distance, the embodiment of the invention screens the plurality of GPS position information according to a certain screening rule, calculates the real-time distance between trains according to the screened GPS position information, and sends the real-time distance to the central processing unit 21.
The second central processor 21 generates a safe distance pre-warning command according to the real-time distance and the train speed, and issues the safe distance pre-warning command to the vehicle-mounted terminal 1 through the second communication module 22.
Specifically, as an embodiment, the calculating module 23 is further configured to:
screening the GPS position information according to a preset electronic fence to obtain GPS position information in the electronic fence;
and calculating the real-time distance between the trains according to the screened GPS position information.
Here, in the actual running process of the train, the GPS position information of each carriage may be abnormal due to the fault, so in order to improve the accuracy of the real-time distance, the embodiment of the invention screens the plurality of GPS position information through the preset electronic fence. The electronic fence is an area formed on a train track according to preset GPS position information. The train track comprises a plurality of electronic fences. If the GPS position information sent from the vehicle-mounted terminal 1 falls within any electronic fence, the GPS position information is confirmed to be accurate, and if the GPS position information does not fall within an electronic fence, the GPS position information is confirmed to be erroneous. According to the embodiment of the invention, the GPS position information is screened according to the preset electronic fence to obtain the GPS position information in the electronic fence, then the real-time distance between the trains is calculated according to the screened GPS position information, and the real-time distance is sent to the central processing unit 21, so that the accuracy of the real-time distance is effectively improved, and the reliability of vehicle distance early warning is improved.
Example 2
Fig. 4 is a flow chart of implementation of the early warning method based on the safety distance early warning system provided by the invention. The safety distance pre-warning system is the safety distance pre-warning system described in any one of the embodiments of fig. 1 to 3. The embodiment of the invention details the functions of the vehicle distance early-warning terminal 2 in the safety vehicle distance early-warning system. As shown in fig. 4, the early warning method includes:
In step S401, a first analog signal transmitted by a vehicle-mounted terminal through a conductor rail is received, and the first analog signal is decoupled and demodulated to obtain GPS position information.
Here, the GPS position information is modulated into a first analog signal at the vehicle-mounted terminal 1 in a power carrier communication manner, and is coupled to a conductor rail to be transmitted to the vehicle distance early warning terminal 2. The vehicle distance early warning terminal 2 receives a first analog signal transmitted by the vehicle-mounted terminal 1 through the conductor rail, and decouples and demodulates the first analog signal to obtain GPS position information.
In the embodiment of the invention, the GPS position information is preferably acquired by a GPS module based on an A-GPS technology so as to improve the positioning accuracy of the vehicle. The GPS position information comprises GPS position information corresponding to each carriage on the train. In order to improve accuracy of train distance detection, the GPS module is distributed according to the carriages of the train. If the train comprises at least one carriage, the vehicle-mounted terminal comprises at least one GPS module, and each GPS module is arranged on one carriage of the train. The vehicle-mounted terminal 1 can acquire GPS position information corresponding to at least one carriage at the same moment and provide the GPS position information for the vehicle distance early-warning terminal 2, so that the vehicle distance early-warning terminal 2 can select accurate GPS position information to perform vehicle distance early-warning. Therefore, the embodiment of the invention greatly improves the reliability of safe vehicle distance control by adopting the combination of GPS and base station positioning and a multi-GPS module redundancy scheme.
In step S402, the GPS position information is screened, and a real-time distance between trains is calculated according to the screened GPS position information.
The GPS module of each carriage may cause data abnormality due to faults in the actual running process of the train. In view of this, the embodiment of the invention screens the plurality of GPS position information according to a certain screening rule, eliminates abnormal GPS position information, and calculates the real-time distance between trains according to the screened GPS position information so as to improve the accuracy of the real-time distance.
In step S403, a safe distance warning command is generated according to the real-time distance and the train speed.
The embodiment of the invention respectively compares the real-time distance with the early warning distances of different early warning levels, and combines the two train speeds to generate the safety early warning instruction.
In step S404, the safety distance warning command is modulated into a second analog signal, and the second analog signal is coupled to the conductor rail to be transmitted to the vehicle terminal through the conductor rail.
Since the inter-vehicle distance pre-warning terminal 2 and the vehicle-mounted terminal 1 are in communication through the conductor rail connection in a power carrier mode, after a safe inter-vehicle distance pre-warning instruction is obtained, the inter-vehicle distance pre-warning terminal 2 modulates the inter-vehicle distance pre-warning instruction into a second analog signal and is coupled to the conductor rail so as to be transmitted to the vehicle-mounted terminal 1 through the conductor rail, and the vehicle-mounted terminal 1 can recognize the safe distance pre-warning instruction and execute corresponding pre-warning operation.
Specifically, as an embodiment, as shown in fig. 5, the filtering the GPS location information in step S402 includes:
in step S501, for the GPS position information sent by the vehicle-mounted terminal on each train, the GPS position information is screened according to a preset electronic fence, so as to obtain the GPS position information located in the electronic fence.
The electronic fence is an area formed on a train track according to preset GPS position information. Fig. 6 is a schematic diagram of an electronic fence according to an embodiment of the present invention. In fig. 6, each electronic fence is a quadrilateral area formed by 4 pieces of preset GPS position information, such as preset GPS position information corresponding to position a, position b, position c, and position d in the figure. In order to position the train carriage, the preset GPS position information is usually arranged at two sides of the train track, so that the electronic fence formed by the 4 preset GPS position information surrounds a section of the train track. It should be noted that, the 4 pieces of preset GPS position information corresponding to each electronic fence in fig. 6 are only an example of the present invention, and are not meant to limit the present invention, and in other embodiments, other numbers of preset GPS position information may be used. The train track comprises a plurality of electronic fences. If the GPS position information sent from the vehicle-mounted terminal 1 falls within any electronic fence, the GPS position information is confirmed to be accurate, and if the GPS position information does not fall within an electronic fence, the GPS position information is confirmed to be erroneous.
According to the embodiment of the invention, the GPS position information is screened according to the preset electronic fence to obtain the GPS position information in the electronic fence, and the abnormal data caused by faults in the actual running process of the train is filtered, so that the accuracy of the real-time distance is improved.
In step S502, for each GPS location information located in the electronic fence, a car number and the number of cars of the train corresponding to the GPS location information are acquired, and the GPS location information, the corresponding car number and the number of cars are used as a set of valid location information corresponding to the train.
Here, the car numbers are numbers counted from the head, for example, the car number corresponding to the first car from the head is 1, the car number corresponding to the second car is 2, and the number of cars is … … the total number of cars of the train corresponding to the GPS position information. For each GPS position information in the electronic fence, the embodiment of the invention takes the GPS position information, the corresponding carriage number and the carriage number as a group of effective position information corresponding to the train.
Specifically, as an implementation manner, the embodiment of the invention calculates the carriage distance between the front train and the rear train, and then calculates the real-time distance between the front train and the rear train. As shown in fig. 7, calculating the real-time distance between trains according to the screened GPS position information in step S402 includes:
In step S701, for the front and rear trains, the car distance between the front and rear trains is obtained according to the GPS position information in the set of effective position information corresponding to the front train, the GPS position information in the set of effective position information corresponding to the rear train, and the earth radius.
The carriage distance is the distance between the GPS modules on the carriage corresponding to the carriage numbers in the effective position information of the two trains. In the embodiment of the present invention, the GPS position information is represented by latitude and longitude, wherein the latitude represents a line angle formed by a ground normal line of one place and an equatorial plane of the earth, and the longitude represents a dihedral angle formed by a meridian plane passing through one place and the present initial meridian. For a train A and a train B which need to calculate real-time distances, assuming the train A is a rear train, and in a group of corresponding effective position information, GPS position information is latitude lat1 and longitude lon1, and corresponding carriage number i and carriage number x; the train B is a front train, and in the corresponding effective position information, GPS position information is latitude lat2 and longitude lon2, and corresponding carriage number j and carriage number y; the earth radius R is in kilometers.
The calculation formula of the carriage distance is as follows:
Lat1＝π*lat1/180
Lat2＝π*lat2/180
Lon1＝π*lon1/180
Lon2＝π*lon2/180
In the above formula, D represents the distance of a carriage, and the unit is meter; lat1 represents radian corresponding to a carriage latitude Lat1 with a number i in the train A; lat2 represents radian corresponding to a carriage latitude Lat2 with the number y in the train B; la represents a sine value of half of the radian difference between the radian Lat1 corresponding to the latitude Lat1 of the carriage numbered i in the train a and the radian Lat2 corresponding to the latitude Lat2 of the carriage numbered y in the train B; lon1 represents the radian corresponding to the car longitude Lon1 numbered i in train a; lon2 represents the radian corresponding to the car longitude Lon2 with the number y in the train B; lb represents a sine value of half of the arc difference between the arc Lon1 corresponding to the car longitude Lon1 numbered i in the train a and the arc Lon2 corresponding to the car longitude Lon2 numbered y in the train B.
In step S702, the real-time distance between the front and rear trains is obtained according to the car distance, the car number in the set of effective position information corresponding to the front car, the car number, the number of cars and the car length in the set of effective position information corresponding to the rear car.
Wherein, the real-time distance is the distance between the front tail and the rear head. After the distance between the carriages is obtained, if the GPS module is installed at the same position of each carriage of the preceding and the following vehicles, for example, the GPS module is installed at the head or tail or middle position of each carriage, and the real-time distance between the trains is calculated according to the following formula according to the distance between the carriages:
d＝D-(y-j+i)*L
In the above equation, D represents the real-time distance, D represents the car distance, and L represents the car length.
If the GPS module is installed at a first position of each compartment of the front car and a second position of each compartment of the rear car, and the first position and the second position are different, for example, if the GPS module is installed at a middle position of each compartment of the front car and a position of each compartment of the rear car, which is one third of the front car, the real-time distance between the trains is calculated according to the following formula according to the distance between the compartments:
in the above equation, D represents the real-time distance, D represents the car distance, and L represents the car length.
For ease of understanding, fig. 8 is a schematic diagram of a car distance and a real-time distance according to an embodiment of the present invention. In fig. 8, the GPS module is mounted at the same position of each car, specifically the car head, of the front car and the rear car. Therefore, the real-time distance between the front train tail and the rear train head, namely the real-time distance between the front train and the rear train, is obtained by subtracting the front train carriage length and the rear train carriage length included in the carriage distance from the carriage distance, so that the accuracy of the real-time distance is effectively improved.
It should be understood that the embodiment of the present invention assumes that the car lengths of the trains on the cloud track are identical, and that the external antennas of the GPS modules are installed at the same position on each car of the same train, where the car length is the distance between the external antennas of two adjacent GPS modules on the same train.
Optionally, when the front car corresponds to multiple groups of effective position information, obtaining a carriage distance and a real-time distance between the front train and the rear train according to any group of effective position information corresponding to the front car, effective position information corresponding to the rear car and the earth radius;
when the rear vehicle corresponds to a plurality of groups of effective position information, obtaining a carriage distance and a real-time distance between the front train and the rear train according to the effective position information corresponding to the front vehicle, any group of effective position information corresponding to the rear vehicle and the earth radius;
when the front car corresponds to a plurality of groups of effective position information and the rear car corresponds to a plurality of groups of effective position information, a group of effective position information is arbitrarily selected from the plurality of groups of effective position information, and the carriage distance and the real-time distance between the front train and the rear train are obtained according to any group of effective position information corresponding to the front car, any group of effective position information corresponding to the rear car and the earth radius.
Specifically, as an implementation mode, the safety distance early warning instruction includes an alarm instruction and a brake instruction, and the embodiment of the invention sets a multi-stage early warning mode. As shown in fig. 9, the generating a safe distance pre-warning command according to the real-time distance and the train speed in step S403 includes:
in step S901, when the real-time distance is smaller than the safety distance and greater than or equal to the first pre-warning distance, an alarm command and a primary braking command are generated.
Here, the embodiment of the invention presets the multi-stage early warning distances. The safety distance is the minimum safety driving distance between two rows of workshops, and the first early warning distance is smaller than the safety distance. And comparing the real-time distance with the safety distance and the first early warning distance respectively, and generating an alarm instruction and a first-stage braking instruction if the real-time distance is smaller than the safety distance and larger than or equal to the first early warning distance. The alarm instruction is used for enabling an alarm module in the vehicle-mounted terminal 1 to execute audible and visual alarm. The primary braking instruction is used to cause the braking module in the in-vehicle terminal 1 to perform a slight braking.
In step S902, when the real-time distance is smaller than the first pre-warning distance and greater than or equal to the second pre-warning distance, an alarm instruction and a second-level braking instruction are generated if the rear vehicle speed is greater than the front vehicle speed, and an alarm instruction and a first-level system instruction are generated if the rear vehicle speed is less than or equal to the front vehicle speed.
The second early warning distance is smaller than the first early warning distance. And comparing the real-time distance with the first early warning distance and the second early warning distance respectively, if the real-time distance is smaller than the first early warning distance and larger than or equal to the second early warning distance, comparing the front vehicle speed with the rear vehicle speed, and if the rear vehicle speed is larger than the front vehicle speed, generating an alarm instruction and a second-stage braking instruction. The alarm instruction is used for enabling an alarm module in the vehicle-mounted terminal 1 to execute audible and visual alarm. The secondary braking order is used for enabling a braking module in the vehicle-mounted terminal 1 to execute emergency braking, and the braking amplitude of the secondary braking order is larger than that of the primary braking order. And if the rear vehicle speed is smaller than or equal to the front vehicle speed, generating an alarm instruction and a primary braking instruction.
In step S903, when the real-time distance is less than or equal to the second pre-warning distance, an alarm command and a secondary braking command are generated.
And triggering emergency braking when the real-time distance is smaller than or equal to the second early warning distance, and generating an alarm instruction and a secondary braking instruction.
Alternatively, as a preferred example of the present invention, the safety distance is preferably 100 meters, the first pre-warning distance is preferably 80 meters, and the second pre-warning distance is preferably 60 meters.
The safety distance warning command obtained in the steps S901 to S903 is further modulated into a second analog signal, and the second analog signal is coupled to the conductive track in a power carrier mode and transmitted to the vehicle-mounted terminal 1 through the conductive track, so that the vehicle-mounted terminal 1 recognizes the safety distance warning command and executes corresponding warning operation.
In summary, the embodiment of the invention receives the first analog signal transmitted by the vehicle-mounted terminal through the conductive track based on the power carrier communication mode, and decouples and demodulates the first analog signal to obtain the GPS position information; then screening the GPS position information, eliminating the GPS position information which is not in the electronic fence, and calculating the real-time distance between the trains according to the screened GPS position information, thereby effectively improving the accuracy of the real-time distance; then generating a safe distance pre-warning instruction according to the real-time distance and the train speed; and finally, modulating the safety distance early warning instruction into a second analog signal, and coupling the second analog signal to the conductor rail so as to transmit the second analog signal to the vehicle-mounted terminal through the conductor rail, thereby effectively improving the reliability of safety early warning, realizing the automation of safety braking and being beneficial to avoiding the generation of the problem of human accidents.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (7)
1. A safety headway warning system, comprising: a vehicle-mounted terminal and a vehicle distance early warning terminal;
the vehicle-mounted terminal is arranged at a designated position of the train and used for acquiring GPS position information of the train and transmitting the GPS position information to the train distance early-warning terminal through a conductor rail; the GPS position information comprises GPS position information corresponding to each carriage on the train; the train track comprises a plurality of electronic fences;
the vehicle distance early warning terminal is arranged at a designated position of the conductor rail, is connected with the vehicle-mounted terminal through the conductor rail in a power carrier communication mode, and is used for receiving GPS position information transmitted by the vehicle-mounted terminal, screening the GPS position information according to a preset electronic fence to obtain GPS position information in the electronic fence, obtaining real-time distance between trains according to the screened GPS position information, generating a safe vehicle distance early warning instruction according to the real-time distance and the train speed, and sending the safe vehicle distance early warning instruction to the vehicle-mounted terminal through the conductor rail; the screening the GPS location information includes: for each GPS position information in the electronic fence, acquiring a carriage number corresponding to the GPS position information and the number of carriages of a train, and taking the GPS position information and the carriage number corresponding to the GPS position information as a group of effective position information corresponding to the train; the calculating the real-time distance between the trains according to the screened GPS position information comprises the following steps: for a front train and a rear train, obtaining a carriage distance between the front train and the rear train according to GPS position information in a group of effective position information corresponding to the front train, GPS position information in a group of effective position information corresponding to the rear train and the earth radius, wherein the carriage distance is the distance between GPS modules on carriages corresponding to carriage numbers in the effective position information of the two trains; obtaining a real-time distance between the front train and the rear train according to the carriage distance, the carriage number in the group of effective position information corresponding to the front train, the carriage number in the group of effective position information corresponding to the rear train and the carriage length, wherein the real-time distance is the distance between the tail of the front train and the head of the rear train;
The vehicle-mounted terminal is also used for receiving the safety distance early warning instruction, and executing alarming operation, or executing train braking operation, or executing alarming operation and train braking operation according to the safety distance early warning instruction.
2. The safe distance pre-warning system according to claim 1, wherein the vehicle-mounted terminal comprises a first central processing unit, a GPS module, a first communication module, an alarm module and a brake module, wherein the GPS module, the first communication module, the alarm module and the brake module are respectively connected with the first central processing unit;
the GPS module is arranged at a designated position of the carriage and used for collecting GPS position information of the carriage in real time;
the first communication module is used for modulating the GPS position information acquired by the GPS module into a first analog signal and coupling the first analog signal to the conductor rail so as to transmit the first analog signal to the vehicle distance early warning terminal through the conductor rail;
the first communication module is also used for receiving a second analog signal transmitted by the conductor rail, decoupling and demodulating the second analog signal to obtain the safety distance pre-warning instruction, and sending the safety distance pre-warning instruction to the first central processor;
and the first central processing unit controls the alarm module to execute alarm operation according to the safety distance early warning instruction, or controls the brake module to execute train brake operation, or controls the alarm module to execute alarm operation and controls the brake module to execute train brake operation.
3. The safe distance warning system of claim 2, wherein the vehicle-mounted terminal includes at least one GPS module, each of the GPS modules being mounted on a car of the train;
the GPS module on each carriage is used for collecting GPS position information corresponding to the carriage.
4. The safe distance pre-warning system according to claim 3, wherein the distance pre-warning terminal comprises a second central processing unit, a second communication module and a calculation module, wherein the second communication module and the calculation module are respectively connected with the second central processing unit;
the second communication module is used for receiving the first analog signal transmitted by the conductor rail, decoupling and demodulating the first analog signal to obtain the GPS position information, and sending the GPS position information to the calculation module;
the calculation module is used for screening the GPS position information according to a preset electronic fence to obtain GPS position information in the electronic fence; calculating the real-time distance between trains according to the screened GPS position information;
the second central processing unit is used for generating a safe distance pre-warning instruction according to the real-time distance and the train speed;
the second communication module is further used for modulating the safety distance pre-warning instruction into a second analog signal and coupling the second analog signal to the conductor rail so as to transmit the second analog signal to the vehicle-mounted terminal through the conductor rail.
5. An early warning method based on a safe distance early warning system, characterized in that the safe distance early warning system is the safe distance early warning system according to any one of claims 1 to 4, comprising:
receiving a first analog signal transmitted by a vehicle-mounted terminal through a conductor rail, and decoupling and demodulating the first analog signal to obtain GPS position information; the GPS position information comprises GPS position information corresponding to each carriage on the train;
screening the GPS position information, and calculating the real-time distance between trains according to the screened GPS position information;
generating a safety distance pre-warning instruction according to the real-time distance and the train speed;
modulating the safety distance early warning instruction into a second analog signal, and coupling the second analog signal to the conductor rail so as to transmit the second analog signal to the vehicle-mounted terminal through the conductor rail;
wherein, the screening the GPS location information includes: the GPS position information sent by the vehicle-mounted terminal on each train is screened according to a preset electronic fence to obtain the GPS position information in the electronic fence;
the screening the GPS location information further includes:
For each GPS position information in the electronic fence, acquiring a carriage number corresponding to the GPS position information and the number of carriages of a train, and taking the GPS position information and the carriage number corresponding to the GPS position information as a group of effective position information corresponding to the train;
the calculating the real-time distance between the trains according to the screened GPS position information comprises the following steps:
for a front train and a rear train, obtaining a carriage distance between the front train and the rear train according to GPS position information in a group of effective position information corresponding to the front train, GPS position information in a group of effective position information corresponding to the rear train and the earth radius, wherein the carriage distance is the distance between GPS modules on carriages corresponding to carriage numbers in the effective position information of the two trains;
and obtaining the real-time distance between the front train and the rear train according to the carriage distance, the carriage number in the group of effective position information corresponding to the front train, the carriage number in the group of effective position information corresponding to the rear train and the carriage length, wherein the real-time distance is the distance between the tail of the front train and the head of the rear train.
6. The early warning method based on the safe distance early warning system according to claim 5, wherein when the front vehicle corresponds to a plurality of groups of effective position information, the carriage distance and the real-time distance between the front and rear trains are obtained according to any group of effective position information corresponding to the front vehicle, the effective position information corresponding to the rear vehicle and the earth radius;
When the rear vehicle corresponds to a plurality of groups of effective position information, obtaining a carriage distance and a real-time distance between the front train and the rear train according to the effective position information corresponding to the front vehicle, any group of effective position information corresponding to the rear vehicle and the earth radius;
and when the front car corresponds to a plurality of groups of effective position information and the rear car corresponds to a plurality of groups of effective position information, obtaining the carriage distance and the real-time distance between the front train and the rear train according to any group of effective position information corresponding to the front car, any group of effective position information corresponding to the rear car and the earth radius.
7. The method for providing a safe distance warning system according to claim 6, wherein the safe distance warning command includes a warning command and a braking command;
the generating the safe distance pre-warning instruction according to the real-time distance and the train speed comprises the following steps:
when the real-time distance is smaller than the safety distance and larger than or equal to the first early warning distance, generating an alarm instruction and a first-stage braking instruction;
when the real-time distance is smaller than the first early warning distance and larger than or equal to the second early warning distance, generating an alarm instruction and a second-stage braking instruction when the speed of the rear vehicle is larger than the speed of the front vehicle, and generating an alarm instruction and a first-stage braking instruction when the speed of the rear vehicle is smaller than or equal to the speed of the front vehicle;
When the real-time distance is smaller than or equal to the second early warning distance, generating an alarm instruction and a secondary braking instruction;
the first early warning distance is larger than the second early warning distance, and the braking amplitude of the second-level braking instruction is larger than that of the first-level braking instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010049406.4A CN113129642B (en) | 2020-01-16 | 2020-01-16 | Safety vehicle distance early warning system and early warning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010049406.4A CN113129642B (en) | 2020-01-16 | 2020-01-16 | Safety vehicle distance early warning system and early warning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113129642A CN113129642A (en) | 2021-07-16 |
| CN113129642B true CN113129642B (en) | 2023-07-14 |
Family
ID=76772178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010049406.4A Active CN113129642B (en) | 2020-01-16 | 2020-01-16 | Safety vehicle distance early warning system and early warning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113129642B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101558A (en) * | 2011-11-14 | 2013-05-15 | 陈今霄 | Train collision avoidance system based on global position system (GPS) positioning |
| CN102632912B (en) * | 2012-04-26 | 2015-08-26 | 上海通号轨道交通工程技术研究中心有限公司 | subway train anti-collision early warning system and method |
| CN203381585U (en) * | 2013-08-08 | 2014-01-08 | 魏国营 | Automobile safety driving distance maintenance and control system based on ARM |
| CN106324634B (en) * | 2015-07-03 | 2019-03-08 | 石家庄市善理通益科技有限公司 | The treating method and apparatus of GPS positioning data |
| CN107633674A (en) * | 2017-09-14 | 2018-01-26 | 王淑芳 | A kind of emphasis commerial vehicle exception tracing point elimination method and system |
| CN108216310A (en) * | 2017-11-29 | 2018-06-29 | 广西大学 | Train tracks early warning system |
-
2020
- 2020-01-16 CN CN202010049406.4A patent/CN113129642B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113129642A (en) | 2021-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11051188B2 (en) | Communication system and method for correlating wireless communication performance with vehicle system configurations | |
| CN102923167B (en) | Train is followed the trail of close to forewarn system | |
| RU2513883C1 (en) | System for interval control of movement of trains at railway haul | |
| CN103119460A (en) | Method and system for validating a vehicle-to-x message and use of the methood | |
| RU2491198C1 (en) | Method of train separation at station-to-station block with automatic block system and device to this end | |
| CN102700571A (en) | Safety overlay collision avoidance system for train of CTCS (Chinese Train Control System) based on vehicular-to-vehicular communication and method thereof | |
| DE102005042218A1 (en) | Railway collision warning system, carried in the rail vehicle, has a transceiver to transmit and receive data packets of other trains for the control unit to determine collision risks together with its own data unit | |
| RU93766U1 (en) | SYSTEM OF INTERVAL REGULATION OF TRAFFIC MOTION ON THE BASIS OF SATELLITE NAVIGATION MEANS OF DIGITAL RADIO CHANNEL WITH COORDINATE CONTROL METHOD | |
| CN105151084A (en) | Equipment for a secondary rail detection system and signalization system integrating such equipment | |
| CN209535113U (en) | Municipal rail train cab signal system real-time monitoring platform | |
| US20190351923A1 (en) | Rail breakage detection device and rail breakage detection system | |
| CN113129642B (en) | Safety vehicle distance early warning system and early warning method | |
| CN201501411U (en) | Locomotive shunting signal anti-overrunning system | |
| CN104199049A (en) | First-generation Beidou and second-generation Beidou technology integrated vehicle measurement and control system | |
| CN101306692B (en) | Shunting signal anti-overrunning system for locomotive | |
| RU2438905C1 (en) | System for control of railway station limit non-occupancy | |
| CN106502240A (en) | A kind of body control system of car car networking | |
| CN101973290B (en) | Estimation system of railway operating environment of high-speed train | |
| KR100751057B1 (en) | Communication based automatic train control system and method | |
| CN109436036B (en) | Rail car shunting and coupling operation protection method based on ranging antenna | |
| RU2386563C1 (en) | System of electric trains monitoring | |
| CN101950487B (en) | Expressway operation environment evaluation system | |
| CN110839224A (en) | Bus passenger flow tracking and identifying system and method | |
| DE102020000218B4 (en) | Data acquisition system and data evaluation system for determining the distance between two objects for use in a rail vehicle | |
| RU2725575C1 (en) | Integrated control system for shunting locomotives |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |